CN116931037B - Data correction method, device and equipment for occultation detection - Google Patents
Data correction method, device and equipment for occultation detection Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
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Abstract
The embodiment of the application provides a data correction method, device and equipment for occultation detection, which belong to the technical field of space detection, and the method comprises the following steps: acquiring a first sampling moment and a second sampling moment, wherein the first sampling moment comprises the sampling moment in a first working mode of occultation detection, and the second sampling moment comprises the sampling moment in a second working mode of occultation detection; determining a matching point of the first sampling time and the second sampling time, wherein the matching point comprises the first sampling time and the second sampling time of which the interval time is smaller than a target threshold value; determining deviation parameters between the sampling data in the first working mode and the sampling data in the second working mode according to the sampling data of the sampling time included in the matching point; and correcting the sampling data at the second sampling moment according to the deviation parameter. Therefore, the embodiment of the application can solve the problem that switching system deviation can be generated when switching between the PLL mode and the OL mode during occultation detection in the prior art, so that occultation observation errors are increased.
Description
Technical Field
The present disclosure relates to the field of spatial detection technologies, and in particular, to a method, an apparatus, and a device for correcting data in occultation detection.
Background
The global satellite navigation system (Global Navigation Satellite System, GNSS) radio occultation atmosphere detection technology refers to that a GNSS dual-frequency receiver is arranged on a low-orbit satellite to receive GNSS signals. Wherein, due to the influence of the atmospheric water vapor density, the vertical refractive index of the propagation medium changes, and the electric wave path is bent when the GNSS navigation signal passes through the earth atmospheric section and the ionosphere. According to the amplitude and phase delay of the measured GNSS occultation observation data, the atmospheric refractive index can be calculated, and the atmospheric density, pressure and temperature can be deduced.
There are two main tracking modes of GNSS earth atmospheric occultation detection, namely a closed Loop (PLL) mode and an Open Loop (OL) mode. PLL mode refers to the receiver using a phase lock loop to track the phase change of the satellite signal. Specifically, the receiver measures the phase of the satellite signal and simultaneously generates an "ideal" reference signal whose frequency and phase correspond to the desired satellite signal. Then, the phase error is calculated by subtracting the phase of the satellite signal and the phase of the generated reference signal. Finally, the frequency and phase of the reference signal generated by the receiver are adjusted using the phase error to keep the phases of the two signals consistent. Wherein this is accomplished by controlling a voltage controlled oscillator to constantly correct the phase difference of the signals, thereby minimizing errors.
However, due to complex calculations and real-time corrections, PLL modes may be more sensitive in handling noise and interference. Thus, PLL mode can generally provide higher tracking accuracy, but requires more computing resources and time to implement.
Because the troposphere water vapor is richer, multipath propagation phenomenon can occur when the GNSS occultation signal is tracked in the PLL mode, so that the amplitude and the phase of the received signal are subjected to strong disturbance, and error tracking and even unlocking phenomena can occur. To solve this problem, OL tracking techniques have been proposed.
Instead of using phase lock loops, the OL mode uses doppler models, pseudo-range models for weather predictions (e.g., forecasting Orbit and atmospheric refractive index) using GNSS or Low Earth Orbit (LEO) to track the signals, thereby calculating measured signal characteristics and expected characteristic errors for adjusting the receiver frequency. Therefore, the OL mode is not affected by signal fluctuations, has the ability to track multiple phases and amplitudes (caused by atmospheric multipath), and can more conveniently detect rising occultation events. The precision of the Doppler frequency model can reach +/-10 Hz, so that the OL mode can track and receive weak GNSS signals in a very narrow bandwidth, the tracking of the weak signals is solved, the tracking problem of rising occultation is solved, the number of occultation observation sections is greatly increased, and the minimum height of each occultation event is reduced.
However, although the OL technology is simpler and faster, the ability to observe lower troposphere and track rising occultation events is greater. However, a receiver employing only the OL tracking mode samples the original data of the signal and the variable frequency complex signal at the mode frequency, the carrier phase signal is affected by the navigation data modulation (navigation data modulation, NDM), and a continuous correction mechanism is lacking, so that the OL mode may be more sensitive to signal instability and interference, and the measurement accuracy may be relatively low. Thus, during a occultation event tracking process, the occultation receiver can alternately use PLL and OL modes of operation to balance accuracy and efficiency. For example, PLL observation is used at a mask tangential point height of 10km or more, and OL observation is used at a mask tangential point height of 10km or less.
However, when the PLL and OL modes are used alternately, since the recorded open-loop carrier phase and closed-loop carrier phase are tracked independently twice, switching between the PLL mode and the OL mode may cause the following two problems:
1. switching system bias: i.e. mode adaptation problems, which may lead to that the tracking mode cannot be switched immediately when actually needed, thus affecting the accuracy and persistence of the signal.
2. Error increases: i.e. carrier phases in different modes may deviate, resulting in increased occultation errors, especially in applications requiring high-precision occultation detection.
As can be seen from the above, in the prior art, switching between the PLL mode and the OL mode may generate a switching system deviation when the occultation detection is performed, and cause an increase in the occultation observation error.
Disclosure of Invention
The embodiment of the application provides a data correction method, device and equipment for occultation detection, which are used for solving the problems that switching system deviation can be generated when switching between a PLL mode and an OL mode during occultation detection in the prior art, and occultation observation errors are increased.
In a first aspect, an embodiment of the present application provides a method for correcting data of occultation detection, where the method includes:
acquiring a first sampling time and a second sampling time, wherein the first sampling time comprises a sampling time under a first working mode of occultation detection, and the second sampling time comprises a sampling time under a second working mode of occultation detection;
determining a matching point of the first sampling time and the second sampling time, wherein the matching point comprises the first sampling time and the second sampling time with the interval time smaller than a target threshold value;
Determining deviation parameters between the sampling data in the first working mode and the sampling data in the second working mode according to the sampling data of the sampling time included by the matching point;
and correcting the sampling data at the second sampling moment according to the deviation parameter.
In a second aspect, an embodiment of the present application provides a data correction device for occultation detection, where the device includes:
the acquisition module is used for acquiring a first sampling time and a second sampling time, wherein the first sampling time comprises a sampling time in a first working mode of occultation detection, and the second sampling time comprises a sampling time in a second working mode of occultation detection;
the matching module is used for determining a matching point of the first sampling time and the second sampling time, wherein the matching point comprises the first sampling time and the second sampling time of which the interval time is smaller than a target threshold value;
the parameter determining module is used for determining deviation parameters between the sampling data in the first working mode and the sampling data in the second working mode according to the sampling data of the sampling time included in the matching point;
and the correction module is used for correcting the sampling data at the second sampling moment according to the deviation parameter.
In a third aspect, an embodiment of the present application provides a occultation receiver, including the above-mentioned data correction device for occultation detection.
In a fourth aspect, an embodiment of the present application provides an electronic device, where the electronic device includes a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete communication with each other through the communication bus;
a memory for storing a computer program;
and the processor is used for realizing the steps in the data correction method for the occultation detection when executing the program stored in the memory.
In a fifth aspect, embodiments of the present application provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the above-described data correction method for occultation detection.
The embodiment of the application at least comprises the following technical effects:
according to the technical scheme, the first sampling time under the first working mode of the occultation detection and the second sampling time under the second working mode of the occultation detection can be obtained, so that the matching point of the first sampling time and the second sampling time is determined, namely, the first sampling time and the second sampling time with the interval smaller than the target threshold value are determined, further, according to the sampling data of the sampling time included by the matching point, the deviation parameter between the sampling data under the first working mode and the sampling data under the second working mode is determined, and further, according to the deviation parameter, the sampling data of the second sampling time is corrected.
Therefore, in the embodiment of the application, the sampling time (that is, the sampling time with shorter interval time) of which the interval time is smaller than the target threshold value in the first working mode and the second working mode can be determined, and further, based on the sampling data of the sampling time of which the interval time is smaller than the target threshold value in the two working modes, the deviation parameter of the sampling data in the two working modes is determined, and further, the sampling data in the second working mode is corrected according to the deviation parameter, so that the sampling data can be better connected when the occultation detection is switched from the first working mode to the second working mode, the corrected sampling data is more accurate, and further, the switching system deviation of the working modes and the occultation observation error are reduced, namely, the embodiment of the application lays a foundation for realizing the seamless connection from the first working mode to the second working mode.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description will make a brief introduction to the drawings used in the description of the embodiments or the prior art.
Fig. 1 is a flow chart of a data correction method for occultation detection according to an embodiment of the present application;
FIG. 2 is a schematic diagram of determining matching points in the first embodiment;
fig. 3 is a schematic diagram of determining a matching point in the second embodiment;
fig. 4 is a schematic diagram of determining a matching point in the third embodiment;
fig. 5 is a schematic diagram of determining a matching point in the fourth embodiment;
FIG. 6 is a block diagram of a data correction device for occultation detection according to an embodiment of the present application;
fig. 7 is a block diagram of an electronic device provided in an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings of the embodiments of the present application, and it is apparent that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
In various embodiments of the present application, it should be understood that the sequence numbers of the following processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present application.
In a first aspect, referring to fig. 1, a step flowchart of a data correction method for occultation detection in an embodiment of the present application is shown, where the method may include the following steps 101 to 104:
step 101: and acquiring a first sampling moment and a second sampling moment.
The first sampling time comprises sampling time under a first working mode of occultation detection, and the second sampling time comprises sampling time under a second working mode of occultation detection.
As can be seen from step 101, in the embodiment of the present application, the sampling time in the different operation modes of the occultation detection needs to be acquired, for example, the first sampling time in the first operation mode includes、/>、/>、/>……/>The method comprises the steps of carrying out a first treatment on the surface of the The second sampling instant in the second mode of operation comprises +.>、/>、/>、/>……/>The method comprises the steps of carrying out a first treatment on the surface of the Here, the sampling frequency in the first operation mode may be the same as or different from the sampling frequency in the second operation mode, n1 and n2 are both positive integers, and n1 and n2 may be the same as or different from each other.
Step 102: and determining a matching point of the first sampling time and the second sampling time.
The matching point comprises a first sampling time and a second sampling time, wherein the interval time of the first sampling time and the second sampling time is smaller than the target threshold value.
When the star detection is performed, an overlapping area exists between the sampling time of the first working mode and the sampling time of the second working mode, namely, the first sampling time and the second sampling time which are in the same time interval exist in the first sampling time and the second sampling time, so that sampling data in the first working mode and sampling data in the second working mode exist in the interval at the same time.
As can be seen from step 102, in the embodiment of the present application, from the acquired plurality of first sampling moments and second sampling moments, the first sampling moment and the second sampling moment with the interval time smaller than the target threshold value may be acquired, and these two moments form the matching point, that is, the first working mode and the second working mode are joined at the matching point. Therefore, in this embodiment of the present application, the interval time between the first sampling time and the second sampling time included in the matching point is smaller than the target threshold, that is, the interval time between the first sampling time and the second sampling time is shorter, so that the switching time from the first working mode to the second working mode is shorter.
Step 103: and determining deviation parameters between the sampling data in the first working mode and the sampling data in the second working mode according to the sampling data of the sampling time included by the matching point.
The interval time between the first sampling time and the second sampling time included in the matching point is smaller than the target threshold, that is, the interval time between the first sampling time and the second sampling time is shorter, so that if the two times are identical from an ideal point of view, the data acquired at the two times should be equal, but because the first sampling time is for acquiring the data in the first working mode, the second sampling time is for acquiring the data in the second working mode, and the methods or principles adopted by the two working modes for acquiring the data are different, the data acquired at the two times have a certain deviation. Therefore, in the case where two sampling moments included in the matching point are separated by a certain time, the deviation of the data acquired at the two sampling moments is increased. In this way, the deviation parameter of the data between the two operation modes can be calculated based on the sampling data of the two sampling moments included in the matching point, so that the sampling data in the second operation mode can be corrected according to the deviation parameter when switching from the first operation mode to the second operation mode.
In addition, the sampled data at the sampling instant may include a carrier phase observation. Namely, in a first working mode and a second working mode of occultation detection, the carrier phase observed quantity can be acquired at the sampling moment.
Step 104: and correcting the sampling data at the second sampling moment according to the deviation parameter.
Wherein the sample data of the first sample time is already present before the second sample time comprised by the matching point, and optionally, in step 104, the sample data of the second sample time located after the second sample time comprised by the matching point, e.g. the second sample time comprises, of the plurality of second sample times obtained in step 101, is corrected according to the deviation parameter、/>、/>、/>……/>And->Belonging to the second sampling instant comprised by the matching point, only the +.>……. Thus, only necessary sampling data can be corrected, thereby reducing the processing flow and shortening the processing time.
As can be seen from the foregoing steps 101 to 103, in this embodiment of the present application, it may be determined that the interval time between the first working mode and the second working mode is less than the sampling time of the target threshold (i.e., the sampling time with shorter interval time), and further, based on the sampling data of the sampling time between the two working modes with shorter interval time than the target threshold, the deviation parameter of the sampling data in the two working modes is determined, and further, the sampling data in the second working mode is corrected according to the deviation parameter, so that the sampling data may be better joined when the occultation detection is switched from the first working mode to the second working mode, and the corrected sampling data is more accurate, so as to reduce the switching system deviation of the working modes and the occultation observation error, that is, in this embodiment of the present application, a foundation is laid for implementing seamless joining from the first working mode to the second working mode.
In an optional embodiment of the present application, the "determining the matching point between the first sampling time and the second sampling time" in step 102 includes the following steps a-1:
step A-1: when the matching point comprises a reference time, acquiring sampling time closest to the reference time from a target set to serve as a target time except the reference time in the sampling time included by the matching point;
wherein, in the case that the reference time is a first sampling time, the target set includes the second sampling time;
in case the reference time instant is a second sampling time instant, the target set comprises the first sampling time instant.
The reference time may be predetermined, for example, a predetermined reference time is a number of the plurality of first sampling times obtained in step 101 or a predetermined reference time is a number of the plurality of second sampling times obtained in step 101, and the reference time is, for example, a first time (i.e., the second sampling time includes、/>、/>、/>……/>The reference time is +.>) Alternatively, the reference time instant is the last time instant of the first sampling time instants (i.e. the first sampling time instant comprises +. >、/>、/>、/>……/>The reference time is +.>）。
As can be seen from the foregoing, in the embodiment of the present application, a reference time may be determined from the first sampling time, so that, in the target set formed by the second sampling time, a target time closest to the reference time is determined, and thus, the reference time and the target time belong to the matching point; alternatively, a reference time may be determined from the second sampling time, so that, in the target set formed by the first sampling time, a target time closest to the reference time is determined, and the reference time and the target time belong to the matching point.
In an optional embodiment of the present application, in the step a-1, the obtaining, from the target set, the sampling time closest to the reference time includes the following step B-1:
step B-1: traversing each sampling time in the target set until the sampling time meeting the target condition is obtained, and determining the sampling time meeting the target condition as the sampling time closest to the reference time in the target set;
wherein the target condition includes:，/>representing the reference moment,/- >Indicating the i-th sampling instant in said target set,/->Representing the sampling frequency of the operating mode to which the sampling instants comprised by the target set belong, +.>Representing a constant.
It should be noted that the fabs function is a function that takes absolute value, i.eRepresentation calculationIs the absolute value of (c).
Illustratively, the first sampling instant comprises、/>、/>、/>……/>The second sampling instant comprises->、/>、/>、……/>And the reference time is +.>Then need to be +.>、/>、/>、/>……/>Each first sampling time is respectively substituted into inequality included in the target condition according to the sequence from back to front to judge whether the condition is satisfied, namely +.>Substituting the inequality included in the target condition to obtain +.>If the inequality is not true, then +.>Substituting the inequality included in the target condition to obtain +.>If the inequality is true +.>Distance from reference moment->And if not, continuing substituting the next first sampling time. In this case, <' > the +.>Is the sampling frequency in the first mode of operation.
Or,
illustratively, the first sampling instant comprises、/>、/>、/>……/>The second sampling instant comprises->、/>、/>、……/>And the reference time is +.>Then need to be +.>、/>、/>、/>……/>Each second sampling time is respectively substituted into inequality included in the target condition according to the sequence from front to back to judge whether the condition is satisfied, namely +. >Substituting the inequality included in the target condition to obtain +.>If the inequality is not true, then +.>Substituting the inequality included in the target condition to obtain +.>If the inequality is true +.>Distance from reference moment->And if not, continuing substituting the next second sampling time. In this case, <' > the +.>Is the sampling frequency in the second mode of operation.
In an optional embodiment of the present application, the deviation parameter includes: a constant ambiguity correction value and a variable ambiguity correction value; the step 103 of determining a deviation parameter between the sampled data in the first working mode and the sampled data in the second working mode according to the sampled data of the sampling time included in the matching point includes the following steps C-1 to C-2:
step C-1: according to a first formulaDetermining the ambiguity constant correction value deltaN0, wherein +_>Sample data corresponding to the target moment, < >>Representing sampling data corresponding to the reference moment;
step C-2: according to the second formulaDetermining said ambiguity variable correction value +.>Wherein->Representing the target moment->Representing the reference moment.
Illustratively, the first sampling instant comprises 、/>、/>、/>……/>The second sampling instant comprises->、/>、/>、……/>And the reference time is +.>The target time is +.>Then->Equal to the target moment +.>Subtracting the reference moment +.>Is>=/>；
Or,
the first sampling time comprises、/>、/>、/>……/>The second sampling instant comprises->、/>、/>、/>……/>And the reference time is +.>The target time is +.>Then->Equal to the target moment +.>Subtracting the reference time from the sampled data of (a)Is>=/>。
It should be noted that, the ambiguity constant correction valueAnd ambiguity variable correction value->May be positive or negative.
In an optional embodiment of the present application, the deviation parameter includes: constant correction value for ambiguityAnd ambiguity variable correction value->The method comprises the steps of carrying out a first treatment on the surface of the In the above step 104, the "correcting the sampled data at the second sampling time according to the deviation parameter" includes the following step D-1:
step D-1: according to the third formulaCorrecting the sampling data at the second sampling moment;
wherein,sample data representing the mth second sample instant,/-sample data representing the mth second sample instant>Representation->Correction data of->Represents the mth second sampling instant, +.>And q represents the ranking of the reference time in a target ranking, wherein the target ranking is a ranking from front to back of sampling time under the same working mode as the reference time.
Illustratively, the first sampling instant comprises、/>、/>、/>……/>The second sampling instant comprises->、/>、/>、……/>And the reference time is +.>The target time is +.>Then:
when the sample data at the 1 st second sampling instant is corrected,；
when the sample data at the 2 nd second sampling instant is corrected,；
the same applies when correcting the sampled data at the subsequent other second sampling moments.
Alternatively, the first sampling instant comprises、/>、/>、/>……/>The second sampling instant comprises->、/>、/>、/>……/>And the reference time is +.>The target time is +.>Then:
when the sample data at the 3 rd second sampling instant is corrected,；
when the sample data at the 4 th second sampling instant is corrected,；
the same applies when correcting the sampled data at the subsequent other second sampling moments.
In an optional embodiment of the present application, the first working mode is an open loop mode, and the second working mode is a closed loop mode; or the first working mode is a closed-loop mode, and the second working mode is an open-loop mode.
Therefore, the data correction method of the occultation detection can be used for data correction in the case of switching the occultation detection from the open-loop mode to the closed-loop mode or from the closed-loop mode to the open-loop mode.
The following describes a specific implementation of the data correction method for occultation detection according to the embodiment of the present application, specifically for switching from the open-loop mode to the closed-loop mode and for different cases where the closed-loop mode is switched to the open-loop mode.
Embodiment one: the method comprises the steps of switching from an open-loop mode to a closed-loop mode, and taking the first sampling moment of the closed-loop mode as a reference moment. The embodiment mainly aims at the scene of detecting the rising occultation event by using a GNSS reflection receiver carried by a low orbit satellite, and the specific process is as follows in steps 1.1 to 1.3:
step 1.1: the satellite-masking receiver receives the ascending satellite-masking signal, firstly tracks the signal below 10km in the OL working mode, and then tracks the signal above 10km in the PLL working mode, and the connection sequence of the open loop and the closed loop is open loop-closed loop. As shown in fig. 2, the open loop active carrierThe phase observation sequence was recorded as Y1, Y2..yn, open-loop sampling time sequence as，/>，...，/>The method comprises the steps of carrying out a first treatment on the surface of the The closed loop effective carrier phase observation sequence is X1, X2, & gt, xn, the closed loop sampling time sequence is +.>，/>，...，/>N is a positive integer.
Here, a first effective observation time (i.e., sampling time) of the closed-loop atmospheric occultation carrier phase observation is determined) To->Traversing the open-loop sampling time sequence from back to front until the time satisfying the following inequality (1) is obtained, wherein the open-loop sampling time satisfying the following inequality (1) is the observation time point closest to the closed-loop atmospheric occultation carrier phase observation time >。
（1）
Wherein,represents the ith open loop acquisitionSample moment (I)>Represents the sampling frequency of the occultation receiver in open loop mode,/, for>Representing a constant, e.g.>May be 4.
Step 1.2: fix the matching point of the output of step 1.1 (i.eAnd->) And calculating the constant ambiguity correction value and the variable ambiguity correction value.
In particular, the first observation instant of the closed loop recorded in step 1.1 can be usedThe closest open-loop observation time point matched to phase X1 +.>And calculating an ambiguity constant correction value deltaN0 and an ambiguity variable correction value dotN according to the corresponding open-loop carrier-phase observed value Yk, the formula (2) and the formula (3).
（2）
（3）
Step 1.3: the closed loop carrier phase observations are corrected by using the ambiguity constant correction value deltaN0 and the ambiguity variable correction value dotN obtained in step 1.2, and the following equation (4).
（4）
Wherein,represents the j-th closed loop carrier phase observation, < >>Representation->Corrected value, +.>Represents the j-th closed-loop sampling instant, +.>Indicating the 1+j open loop sampling instants.
Embodiment two: the method comprises the steps of switching from an open-loop mode to a closed-loop mode, and taking the last sampling time of the open-loop mode as a reference time. The embodiment mainly aims at the scene of detecting the rising occultation event by using a GNSS reflection receiver carried by a low orbit satellite, and the specific process is as follows in steps 2.1 to 2.3:
Step 2.1: the satellite-masking receiver receives the ascending satellite-masking signal, firstly tracks the signal below 10km in the OL working mode, and then tracks the signal above 10km in the PLL working mode, and the connection sequence of the open loop and the closed loop is open loop-closed loop. As shown in fig. 3, the open-loop valid carrier phase observation sequence is recorded as Y1, Y2,..yn, open-loop sampling time sequence is，/>，...，/>The method comprises the steps of carrying out a first treatment on the surface of the The closed loop effective carrier phase observation sequence is X1, X2, & gt, xn, the closed loop sampling time sequence is +.>，/>，...，/>N is a positive integer.
Here, the last valid observation time (i.e., sampling time) of the open-loop atmospheric occultation carrier phase observation is determined) To->Traversing the closed-loop sampling time sequence by taking the time as a reference until the time satisfying the following inequality (5) is obtained, wherein the closed-loop sampling time satisfying the following inequality (5) is an observation time point which is closest to the observation time of the closed-loop atmospheric occultation carrier phase>。
（5）
Wherein,represents the j-th closed-loop sampling instant, +.>Represents the sampling frequency of the occultation receiver in closed loop mode, < >>Representing a constant, e.g.>May be 4.
Step 2.2: fix the matching point of the output of step 2.1 (i.eAnd->) And calculating the constant ambiguity correction value and the variable ambiguity correction value.
In particular, the last observation instant of the open loop recorded in step 2.1 can be usedThe closest closed-loop observation time point matched to phase Yn +.>And calculating an ambiguity constant correction value deltaN0 and an ambiguity variable correction value dotN according to the corresponding closed-loop carrier-phase observed value Xk, the formula (6) and the formula (7).
（6）
（7）
Step 2.3: the closed loop carrier phase observations are corrected by using the ambiguity constant correction value deltaN0 and the ambiguity variable correction value dotN obtained in step 2.2, and the following equation (8).
（8）
Wherein,represents the j-th closed loop carrier phase observation, < >>Representation->Corrected value, +.>Represents the j-th closed-loop sampling instant, +.>Indicating the n + j open loop sampling instant.
Embodiment III: the method comprises the steps of switching from a closed loop mode to an open loop mode, and taking the first sampling moment of the open loop mode as a reference moment. The embodiment mainly aims at a scene of detecting a falling occultation event by using a GNSS reflection receiver carried by a low orbit satellite, and the specific process is as follows in steps 3.1 to 3.4:
step 3.1: the star masking receiver receives the rising star masking signal, firstly tracks the signal above 10km in the PLL working mode, and then tracks the signal below 10km in the OL working mode, and the connection sequence of the open loop and the closed loop is closed loop-open loop. As shown in fig. 4, the closed-loop effective carrier phase observation sequence is X1, X2,..xn, and the closed-loop sampling time sequence is ，/>，...，/>The open loop valid carrier phase observation sequence is recorded as Y1, Y2, & gt, yn, open loop sampling time sequence +.>，/>，...，/>N is a positive integer.
Here, a first effective observation time (i.e., sampling time) of the open-loop atmospheric occultation carrier phase observation is determined) To->Traversing the closed-loop sampling time sequence from back to front until the moment satisfying the following inequality (9) is obtained, wherein the closed-loop sampling moment satisfying the following inequality (9) is an observation time point closest to the open-loop atmospheric occultation carrier phase observation time>。/>
（9）
Wherein,represents the j-th closed-loop sampling instant, +.>Represents the sampling frequency of the occultation receiver in closed loop mode, < >>Representing a constant, e.g.>May be 4.
Step 3.2: fix the matching point of the step 3.1 output (i.eAnd->) And calculating the constant ambiguity correction value and the variable ambiguity correction value.
In particular, the open loop first observation time recorded in step 3.1 can be utilizedWith phase Y1, the closest closed loop observation matchedThe middle point->And calculating an ambiguity constant correction value deltaN0 and an ambiguity variable correction value dotN according to the corresponding closed-loop carrier-phase observed value Xk, the formula (10) and the formula (11).
（10）
（11）
Step 3.3: the open loop carrier phase observations are corrected by using the ambiguity constant correction deltaN0 and the ambiguity variable correction dotN obtained in step 3.2, and the following equation (12).
（12）
Wherein,represents the i-th open loop carrier phase observation,/->Representation->Corrected value, +.>Represents the i-th open-loop sampling instant, +.>Indicating the 1+i-th closed-loop sampling instant.
Embodiment four: the method comprises the steps of switching from a closed-loop mode to an open-loop mode, and taking the last sampling time of the closed-loop mode as a reference time. The embodiment mainly aims at the scene of detecting the falling occultation event by using a GNSS reflection receiver carried by a low orbit satellite, and the specific process is as follows in the steps 4.1 to 4.3:
step 4.1: the star masking receiver receives the rising star masking signal, firstly tracks the signal above 10km in the PLL working mode, and then tracks the signal below 10km in the OL working mode, and the connection sequence of the open loop and the closed loop is closed loop-open loop. As shown in fig. 5, the closed-loop effective carrier phase observation sequence is X1, X2,..xn, and the closed-loop sampling time sequence is，/>，...，/>The open loop valid carrier phase observation sequence is recorded as Y1, Y2, & gt, yn, open loop sampling time sequence +.>，/>，...，/>N is a positive integer.
Here, the last valid observation time (i.e., sampling time) of the closed-loop atmospheric occultation carrier phase observation is determined ) To->Traversing the open-loop sampling time sequence until the time satisfying the following inequality (13) is obtained by taking the time as a reference, wherein the open-loop sampling time satisfying the following inequality (13) is an observation time point which is closest to the observation time of the closed-loop atmospheric occultation carrier phase>。/>
（13）
Wherein,represents the i-th open-loop sampling instant, +.>Represents the sampling frequency of the occultation receiver in open loop mode,/, for>Representing a constant, e.g.>May be 4.
Step 4.2: fix the matching point of the output of step 4.1 (i.eAnd->) And calculating the constant ambiguity correction value and the variable ambiguity correction value.
In particular, the last observation instant of the closed loop recorded in step 4.1 can be usedThe closest open-loop observation time point matched to phase Xn +.>And calculating an ambiguity constant correction value deltaN0 and an ambiguity variable correction value dotN according to the corresponding closed-loop carrier-phase observed value Yk, the equation (14) and the equation (15).
（14）
（15）
Step 4.3: the open loop carrier phase observations are corrected by using the ambiguity constant correction deltaN0 and the ambiguity variable correction dotN obtained in step 4.2, and the following equation (16).
（16）
Wherein,represents the i-th open loop carrier phase observation,/- >Representation->Corrected value, +.>Represents the i-th open-loop sampling instant, +.>Indicating the n + i closed loop sampling instant.
As can be seen from the first to fourth embodiments, the embodiments of the present application may calculate the ambiguity constant correction value and the ambiguity variable correction value by traversing the matching points of the working mode before the switching and the working mode after the switching, thereby correcting the carrier phase observation value in the working mode after the switching based on the open-loop and closed-loop carrier phase observation values corresponding to the matching points. Thus, embodiments of the present application have the following advantages:
(1) Only the received carrier phase observed quantity is operated, and other occultation observed data are not required to be additionally provided;
(2) The algorithm is time matching and one-dimensional calculation, is simple and convenient to open and close the loop and connect quickly;
(3) The ambiguity constant correction value and the ambiguity variable correction value are considered, so that the carrier phase during the open-loop and closed-loop switching is more accurate.
(4) By data correction, the problem of discontinuous jumping of the atmospheric additional phase calculation of the occultation process can be avoided.
In summary, in order to overcome the problem of ambiguity jump of the connection of the carrier phase of the atmospheric occultation satellite in the switching process of the PLL working mode and the OL working mode, the embodiments of the present application provide a data correction method for occultation satellite detection, which can connect the carrier phase of the GNSS open-loop atmospheric occultation satellite with the carrier phase data of the closed-loop atmospheric occultation satellite, and has the characteristics of fast connection speed, high carrier phase precision in the switching process, simple algorithm, continuous and seamless connection, etc.
The above describes the data correction method for occultation detection provided by the embodiment of the present application, and the following describes the data correction device for occultation detection provided by the embodiment of the present application.
In a second aspect, an embodiment of the present application provides a data correction device for occultation detection, as shown in fig. 6, where the device includes:
an obtaining module 601, configured to obtain a first sampling time and a second sampling time, where the first sampling time includes a sampling time in a first working mode of occultation detection, and the second sampling time includes a sampling time in a second working mode of occultation detection;
a matching module 602, configured to determine a matching point of the first sampling time and the second sampling time, where the matching point includes a first sampling time and a second sampling time with an interval time less than a target threshold;
a parameter determining module 603, configured to determine a deviation parameter between the sampled data in the first working mode and the sampled data in the second working mode according to the sampled data of the sampling time included in the matching point;
and the correction module 604 is configured to correct the sampled data at the second sampling time according to the deviation parameter.
In an alternative embodiment of the present application, the matching module 602 includes:
a matching sub-module, configured to obtain, when the matching point includes a reference time, a sampling time closest to the reference time from a target set, as a target time other than the reference time among sampling times included in the matching point;
wherein, in the case that the reference time is a first sampling time, the target set includes the second sampling time;
in case the reference time instant is a second sampling time instant, the target set comprises the first sampling time instant.
In an optional embodiment of the present application, the reference time is a first time of the second sampling time, or the reference time is a last time of the first sampling time.
In an optional embodiment of the present application, the matching submodule obtains, from the target set, a sampling time closest to the reference time, and is specifically configured to:
traversing each sampling time in the target set until the sampling time meeting the target condition is obtained, and determining the sampling time meeting the target condition as the sampling time closest to the reference time in the target set;
Wherein the target condition includes:，/>representing the reference moment,/->Indicating the i-th sampling instant in said target set,/->Representing the sampling frequency of the operating mode to which the sampling instants comprised by the target set belong, +.>Representing a constant.
In an optional embodiment of the present application, the deviation parameter includes: a constant ambiguity correction value and a variable ambiguity correction value; the parameter determining module 603 is specifically configured to:
according to a first formulaDetermining the ambiguity constant correction value deltaN0, wherein +_>Sample data corresponding to the target moment, < >>Representing sampling data corresponding to the reference moment;
according to the second formulaDetermining said ambiguity variable correction value +.>Wherein->Representing the target moment->Representing the reference moment. />
In an optional embodiment of the present application, the deviation parameter includes: constant correction value for ambiguityAnd ambiguity variable correction value->；
In an alternative embodiment of the present application, the correction module 604 is specifically configured to:
according to the third formulaCorrecting the sampling data at the second sampling moment;
wherein,sample data representing the mth second sample instant,/-sample data representing the mth second sample instant>Representation->Correction data of- >Represents the mth second sampling instant, +.>And q represents the ranking of the reference time in a target ranking, wherein the target ranking is a ranking from front to back of sampling time under the same working mode as the reference time.
In an optional embodiment of the present application, the first working mode is an open loop mode, and the second working mode is a closed loop mode;
or,
the first working mode is a closed loop mode, and the second working mode is an open loop mode.
For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.
In a third aspect, an embodiment of the present application provides a occultation receiver, including the above-mentioned data correction device for occultation detection.
In a fourth aspect, an embodiment of the present application further provides an electronic device, as shown in fig. 7, where the electronic device may include: processor 710, communication interface (Communications Interface) 720, memory 730, and communication bus 740, wherein processor 710, communication interface 720, memory 730 communicate with each other via communication bus 740. Processor 710 may invoke logic instructions in memory 730, and processor 710 may be configured to perform the above-described steps of correcting data for the occultation detection.
Further, the logic instructions in the memory 730 described above may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand alone product. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The embodiment of the present application further provides a computer readable storage medium, on which a computer program is stored, where the computer program when executed by a processor implements each process of the above-mentioned embodiment of the method for correcting data of occultation detection, and the same technical effects can be achieved, so that repetition is avoided, and no redundant description is given here.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), etc.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the scope of the present application. Any modifications, equivalent substitutions, improvements, etc. that are within the spirit and principles of the present application are intended to be included within the scope of the present application.
Claims (13)
1. A method for correcting data for occultation detection, said method comprising:
acquiring a first sampling time and a second sampling time, wherein the first sampling time comprises a sampling time under a first working mode of occultation detection, and the second sampling time comprises a sampling time under a second working mode of occultation detection;
determining a matching point of the first sampling time and the second sampling time, wherein the matching point comprises the first sampling time and the second sampling time with the interval time smaller than a target threshold value;
determining a deviation parameter between the sampling data in the first working mode and the sampling data in the second working mode according to the sampling data of the sampling time included in the matching point, wherein the deviation parameter comprises: ambiguity constant correction and ambiguity variable correction according to a first formulaDetermining said ambiguity constant correction value deltaN0,/ >Sample data corresponding to the target time, +.>Representing the sample data corresponding to the reference moment according to the second formula +.>Determining said ambiguity variable correction value +.>，/>The time of day of the object is indicated,the reference time is represented, the reference time is a first sampling time included in the matching point, the target time is a second sampling time included in the matching point, or the reference time is a second sampling time included in the matching point, and the target time is a first sampling time included in the matching point;
according to the third formulaCorrecting the sampled data at the second sampling instant, wherein +.>Sample data representing the mth second sample instant,/-sample data representing the mth second sample instant>Representation->Correction data of->Represents the mth second sampling instant, +.>And q represents the ranking of the reference time in a target ranking, wherein the target ranking is a ranking from front to back of sampling time under the same working mode as the reference time.
2. The method of claim 1, wherein the determining a matching point for the first sampling instant and the second sampling instant comprises:
when the matching point comprises the reference time, acquiring sampling time closest to the reference time from a target set as the target time except the reference time in the sampling time included by the matching point;
Wherein, in the case that the reference time is a first sampling time, the target set includes the second sampling time;
in case the reference time instant is a second sampling time instant, the target set comprises the first sampling time instant.
3. The method of claim 2, wherein the reference time instant is a first time instant of the second sampling time instants or the reference time instant is a last time instant of the first sampling time instants.
4. The method of claim 2, wherein the obtaining the sampling instant from the target set that is closest to the reference instant comprises:
traversing each sampling time in the target set until the sampling time meeting the target condition is obtained, and determining the sampling time meeting the target condition as the sampling time closest to the reference time in the target set;
wherein the target condition includes:，/>the reference moment of time is indicated as such,indicating the i-th sampling instant in said target set,/->Representing the sampling frequency of the operating mode to which the sampling instants comprised by the target set belong, +. >Representing a constant.
5. The method of claim 1, wherein the first mode of operation is an open loop mode and the second mode of operation is a closed loop mode;
or,
the first working mode is a closed loop mode, and the second working mode is an open loop mode.
6. A data correction device for occultation detection, said device comprising:
the acquisition module is used for acquiring a first sampling time and a second sampling time, wherein the first sampling time comprises a sampling time in a first working mode of occultation detection, and the second sampling time comprises a sampling time in a second working mode of occultation detection;
the matching module is used for determining a matching point of the first sampling time and the second sampling time, wherein the matching point comprises the first sampling time and the second sampling time of which the interval time is smaller than a target threshold value;
the parameter determining module is configured to determine, according to sampling data of sampling moments included in the matching point, a deviation parameter between the sampling data in the first working mode and the sampling data in the second working mode, where the deviation parameter includes: ambiguity constant correction and ambiguity variable correction according to a first formula Determining said ambiguity constant correction value deltaN0,/>Sample data corresponding to the target time, +.>Representing the sample data corresponding to the reference moment according to the second formula +.>Determining said ambiguity variable correction value +.>，/>Representing the target moment->The reference time is represented, the reference time is a first sampling time included in the matching point, the target time is a second sampling time included in the matching point, or the reference time is a second sampling time included in the matching point, and the target time is a first sampling time included in the matching point;
a correction module for according to a third formulaCorrecting the sampled data at the second sampling instant, wherein +.>Sample data representing the mth second sample instant,/-sample data representing the mth second sample instant>Representation->Correction data of->Represents the mth second sampling instant, +.>And q represents the ranking of the reference time in a target ranking, wherein the target ranking is a ranking from front to back of sampling time under the same working mode as the reference time.
7. The apparatus of claim 6, wherein the matching module comprises:
A matching sub-module, configured to obtain, when the matching point includes the reference time, a sampling time closest to the reference time from a target set, as the target time except for the reference time in sampling times included in the matching point;
wherein, in the case that the reference time is a first sampling time, the target set includes the second sampling time;
in case the reference time instant is a second sampling time instant, the target set comprises the first sampling time instant.
8. The apparatus of claim 7, wherein the reference time instant is a first time instant of the second sampling time instants or the reference time instant is a last time instant of the first sampling time instants.
9. The apparatus of claim 7, wherein the matching sub-module obtains a sampling time closest to the reference time from a target set, specifically for:
traversing each sampling time in the target set until the sampling time meeting the target condition is obtained, and determining the sampling time meeting the target condition as the sampling time closest to the reference time in the target set;
Wherein the target condition includes:，/>the reference moment of time is indicated as such,indicating the i-th sampling instant in said target set,/->Representing the sampling frequency of the operating mode to which the sampling instants comprised by the target set belong, +.>Representing a constant.
10. The apparatus of claim 6, wherein the first mode of operation is an open loop mode and the second mode of operation is a closed loop mode;
or,
the first working mode is a closed loop mode, and the second working mode is an open loop mode.
11. A occultation receiver comprising a occultation detection data correction device according to any one of claims 6 to 10.
12. The electronic equipment is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;
a memory for storing a computer program;
a processor for implementing the steps of the data correction method for occultation detection according to any one of claims 1 to 5 when executing a program stored on a memory.
13. A computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the steps of the data correction method of occultation detection according to any one of claims 1 to 5.
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